A switching formation strategy for obstacle avoidance of a multi-robot system based on robot priority model

Title
A switching formation strategy for obstacle avoidance of a multi-robot system based on robot priority model
Author(s)
이석규대염염김윤구[김윤구]위성길이동하[이동하]
Keywords
MOBILE ROBOTS
Issue Date
201505
Publisher
ELSEVIER SCIENCE INC
Citation
ISA TRANSACTIONS, v.56, pp.123 - 134
Abstract
This paper describes a switching formation strategy for multi-robots with velocity constraints to avoid and cross obstacles. In the strategy, a leader robot plans a safe path using the geometric obstacle avoidance control method (GOACM). By calculating new desired distances and bearing angles with the leader robot, the follower robots switch into a safe formation. With considering collision avoidance, a novel robot priority model, based on the desired distance and bearing angle between the leader and follower robots, is designed during the obstacle avoidance process. The adaptive tracking control algorithm guarantees that the trajectory and velocity tracking errors converge to zero. To demonstrate the validity of the proposed methods, simulation and experiment results present that multi-robots effectively form and switch formation avoiding obstacles without collisions. (C) 2014 ISA. Published by Elsevier Ltd. All rights reserved.
URI
http://hdl.handle.net/YU.REPOSITORY/32541http://dx.doi.org/10.1016/j.isatra.2014.10.008
ISSN
0019-0578
Appears in Collections:
공과대학 > 전기공학과 > Articles
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